fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-11 07:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF-AGP: only reset lat/lon when starting

Browse Source
This commit is contained in:
bresch
2025-04-01 16:42:26 +03:00
committed by Roman Bapst
parent 1928758fbc
commit e35c1f430c
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
+1 -1
View File
@@ -108,7 +108,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
bool reset = false;
if (!fused && !ekf.isOtherSourceOfHorizontalPositionAidingThan(ekf.control_status_flags().aux_gpos)) {
ekf.resetGlobalPositionTo(sample.latitude, sample.longitude, sample.altitude_amsl, pos_var, sq(sample.epv));
ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance));
ekf.resetAidSourceStatusZeroInnovation(aid_src);
reset = true;
}